Description

This module defines concrete multibody system nodes:

ChVehicleCosimRigNode wraps a single-wheel test rig.
ChVehicleCosimWheeledVehicleNode wraps a Chrono::Vehicle wheeled vehicle defined through JSON specification files.
ChVehicleCosimCuriosityNode wraps the Curiosity Mars rover model.
ChVehicleCosimViperNode wraps the Viper lunar rover model.

Additionally, this module provides various drawbar pull rigs which can be attached to any of the MBS nodes:

ChVehicleCosimDBPRigImposedSlip allows imposing known (fixed) vehicle forward linear velocity and wheel angular velocity to maintain a prescribed value of the longitudinal slip. The actuation specifies if the linear velocity or angular velocity is considered as "base velocity", with the other one derived from the slip value. The DBP force is extracted as the reaction force required to enforce the vehicle forward linear velocity (at steady state). Each run of this experiment produces one point on the slip-DBP curve.
ChVehicleCosimDBPRigImposedAngVel enforces a prescribed wheel angular velocity. A linearly increasing resistive force is applied against the forward motion of the vehicle and the experiment is ended when the vehicle stops. At each time, the vehicle forward speed and resulting slip are calculated and stored together with the current resistive force (DBP). This experiment produces the entire slip-DBP curve at once.

Collaboration diagram for Multibody system nodes:

Classes
class	chrono::vehicle::ChVehicleCosimDBPRig
	Base class for a drawbar-pull rig mechanism. More...

class	chrono::vehicle::ChVehicleCosimDBPRigImposedSlip
	Drawbar-pull rig mechanism with imposed slip. More...

class	chrono::vehicle::ChVehicleCosimDBPRigImposedAngVel
	Drawbar-pull rig mechanism with imposed angular velocity. More...

class	chrono::vehicle::ChVehicleCosimCuriosityNode
	Curiosity rover co-simulation node. More...

class	chrono::vehicle::ChVehicleCosimRigNode
	Mechanism for a single-wheel testing rig. More...

class	chrono::vehicle::ChVehicleCosimTrackedVehicleNode
	Tracked vehicle co-simulation node. More...

class	chrono::vehicle::ChVehicleCosimViperNode
	Viper rover co-simulation node. More...

class	chrono::vehicle::ChVehicleCosimWheeledVehicleNode
	Wheeled vehicle co-simulation node. More...

Classes